From 022330bfcb4b29bd8e939f2ae3a784c787a6ee95 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Henrik=20Tj=C3=A4der?= <henrik@tjaders.com>
Date: Sun, 22 Jan 2023 11:32:37 +0100
Subject: [PATCH] Add example cfg-ing a Monotonic, showing limitations imposed
 by rtic-syntax

---
 examples/cfg-monotonic.rs | 121 ++++++++++++++++++++++++++++++++++++++
 1 file changed, 121 insertions(+)
 create mode 100644 examples/cfg-monotonic.rs

diff --git a/examples/cfg-monotonic.rs b/examples/cfg-monotonic.rs
new file mode 100644
index 0000000000..88c0d6f009
--- /dev/null
+++ b/examples/cfg-monotonic.rs
@@ -0,0 +1,121 @@
+//! examples/cfg-monotonic.rs
+
+#![deny(unsafe_code)]
+#![deny(warnings)]
+#![deny(missing_docs)]
+#![no_main]
+#![no_std]
+
+use panic_semihosting as _;
+
+#[rtic::app(device = lm3s6965, dispatchers = [SSI0, QEI0])]
+mod app {
+    use cortex_m_semihosting::{debug, hprintln};
+    use systick_monotonic::*; // Implements the `Monotonic` trait
+
+    // A monotonic timer to enable scheduling in RTIC
+    #[cfg(feature = "killmono")]
+    #[monotonic(binds = SysTick, default = true)]
+    type MyMono = Systick<100>; // 100 Hz / 10 ms granularity
+
+    // Not allowed by current rtic-syntax:
+    // error: `#[monotonic(...)]` on a specific type must appear at most once
+    //   --> examples/cfg-monotonic.rs:23:10
+    //    |
+    // 23 |     type MyMono = Systick<100>; // 100 Hz / 10 ms granularity
+    //    |          ^^^^^^
+    // #[monotonic(binds = SysTick, default = true)]
+    // type MyMono = Systick<100>; // 100 Hz / 10 ms granularity
+
+    // Not allowed by current rtic-syntax:
+    // error: this interrupt is already bound
+    //   --> examples/cfg-monotonic.rs:31:25
+    //    |
+    // 31 |     #[monotonic(binds = SysTick, default = true)]
+    //    |                         ^^^^^^^
+    // #[monotonic(binds = SysTick, default = true)]
+    // type MyMono2 = DwtSystick<100>; // 100 Hz / 10 ms granularity
+
+    // Resources shared between tasks
+    #[shared]
+    struct Shared {
+        s1: u32,
+        s2: i32,
+    }
+
+    // Local resources to specific tasks (cannot be shared)
+    #[local]
+    struct Local {
+        l1: u8,
+        l2: i8,
+    }
+
+    #[init]
+    fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
+        let _systick = cx.core.SYST;
+
+        // Initialize the monotonic (SysTick rate in QEMU is 12 MHz)
+        #[cfg(feature = "killmono")]
+        let mono = Systick::new(systick, 12_000_000);
+
+        // Spawn the task `foo` directly after `init` finishes
+        foo::spawn().unwrap();
+
+        debug::exit(debug::EXIT_SUCCESS); // Exit QEMU simulator
+
+        (
+            // Initialization of shared resources
+            Shared { s1: 0, s2: 1 },
+            // Initialization of task local resources
+            Local { l1: 2, l2: 3 },
+            // Move the monotonic timer to the RTIC run-time, this enables
+            // scheduling
+            #[cfg(feature = "killmono")]
+            init::Monotonics(mono),
+            init::Monotonics(),
+        )
+    }
+
+    // Background task, runs whenever no other tasks are running
+    #[idle]
+    fn idle(_: idle::Context) -> ! {
+        loop {
+            continue;
+        }
+    }
+
+    // Software task, not bound to a hardware interrupt.
+    // This task takes the task local resource `l1`
+    // The resources `s1` and `s2` are shared between all other tasks.
+    #[task(shared = [s1, s2], local = [l1])]
+    fn foo(_: foo::Context) {
+        // This task is only spawned once in `init`, hence this task will run
+        // only once
+
+        hprintln!("foo");
+    }
+
+    // Software task, also not bound to a hardware interrupt
+    // This task takes the task local resource `l2`
+    // The resources `s1` and `s2` are shared between all other tasks.
+    #[task(shared = [s1, s2], local = [l2])]
+    fn bar(_: bar::Context) {
+        hprintln!("bar");
+
+        // Run `bar` once per second
+        // bar::spawn_after(1.secs()).unwrap();
+    }
+
+    // Hardware task, bound to a hardware interrupt
+    // The resources `s1` and `s2` are shared between all other tasks.
+    #[task(binds = UART0, priority = 3, shared = [s1, s2])]
+    fn uart0_interrupt(_: uart0_interrupt::Context) {
+        // This task is bound to the interrupt `UART0` and will run
+        // whenever the interrupt fires
+
+        // Note that RTIC does NOT clear the interrupt flag, this is up to the
+        // user
+
+        hprintln!("UART0 interrupt!");
+    }
+}